CN111077852B - Rotation control method, rotation control device, computer equipment and storage medium - Google Patents
Rotation control method, rotation control device, computer equipment and storage medium Download PDFInfo
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- CN111077852B CN111077852B CN201911118905.8A CN201911118905A CN111077852B CN 111077852 B CN111077852 B CN 111077852B CN 201911118905 A CN201911118905 A CN 201911118905A CN 111077852 B CN111077852 B CN 111077852B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
- G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32252—Scheduling production, machining, job shop
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The application relates to a rotation control method, a rotation control device, computer equipment and a storage medium. The method comprises the following steps: determining a first rotation angular velocity of the top tray motor and a second rotation angular velocity of the chassis motor according to the predicted rotation angle of the transporter when controlling the steering of the transporter; correcting one of the first rotational angular velocity and the second rotational angular velocity according to a rotation correction coefficient set in advance; and controlling the corresponding motor to rotate towards a preset direction according to the corrected target rotation angular velocity, and controlling the corresponding motor to rotate towards the reverse direction of the preset direction according to the uncorrected rotation angular velocity. Through this aspect of embodiment, reduced because the rotation performance difference of top dish motor and chassis motor leads to the goods shelves rock, and then can avoid the goods to take place to empty.
Description
Technical Field
The present application relates to the field of AGV technologies, and in particular, to a rotation control method and apparatus, a computer device, and a storage medium.
Background
With the development of science and technology, a large number of AGVs (Automated Guided vehicles) are used in the fields of e-commerce, intelligent factories and the like, and the working efficiency and safety of warehouses are directly affected by the motion performance of the AGVs.
In the related art, the AGV has a top tray and a top tray motor, and a bottom tray motor, the top tray motor drives the top tray to rotate, and the bottom tray motor drives the bottom tray to rotate. During the process of transporting goods, the top plate lifts the goods shelf to move. If the steering is needed, the tray jacking motor and the chassis motor of the AGV rotate simultaneously, and the goods shelf is kept still relative to the ground. However, such a steering may cause the rack to shake violently, or even cause the goods on the rack to topple.
Disclosure of Invention
In view of the above, it is desirable to provide a rotation control method, a rotation control apparatus, a computer device, and a storage medium capable of avoiding a rack from shaking.
In a first aspect, an embodiment of the present invention provides a rotation control method, which is applied to a transport vehicle, where the transport vehicle includes a top-tray motor and a bottom-tray motor; the method comprises the following steps:
when the transport vehicle is controlled to steer, determining a first rotation angular velocity of a top disc motor and a second rotation angular velocity of a chassis motor according to the predicted rotation angle of the transport vehicle;
correcting one of the first rotational angular velocity and the second rotational angular velocity according to a rotation correction coefficient set in advance;
and controlling the corresponding motor to rotate towards the preset direction according to the corrected target rotation angular velocity, and controlling the corresponding motor to rotate towards the reverse direction of the preset direction according to the uncorrected rotation angular velocity.
In one embodiment, the preset rotation correction coefficient is obtained according to the following method:
controlling a top disc motor and a bottom disc motor to rotate according to preset conditions;
after the rotation is finished, acquiring the actual rotation angle of a top disc motor and the actual rotation angle of a bottom disc motor;
and determining a rotation correction coefficient according to the actual rotation angle of the top disc motor and the actual rotation angle of the bottom disc motor.
In one embodiment, the controlling the top tray motor and the bottom tray motor to rotate according to a preset condition includes:
determining a rotation angle to be measured of a top disc motor and a rotation angle to be measured of a bottom disc motor;
and controlling the top disc motor and the bottom disc motor to rotate simultaneously, and controlling the top disc motor and the bottom disc motor to stop rotating simultaneously when detecting that the top disc motor reaches the rotation angle to be detected of the top disc motor or the bottom disc motor reaches the rotation angle to be detected of the bottom disc motor.
In one embodiment, the determining the angle to be rotated of the top tray motor and the angle to be rotated of the bottom tray motor includes:
acquiring a first position mark preset on a goods shelf and a second position mark on the ground;
determining a first deviation angle between the top plate motor and the goods shelf according to the first position mark, and determining a second deviation angle between the bottom plate motor and the ground according to the second position mark;
and determining the angle to be rotated of the top disc motor according to the first deviation angle and the predicted rotation angle, and determining the angle to be rotated of the bottom disc motor according to the second deviation angle and the predicted rotation angle.
In one embodiment, the first position marker is a first graphic code and the second position marker is a second graphic code; the above-mentioned first position mark and the subaerial second position mark of acquireing to set up in advance on goods shelves includes:
and respectively scanning the first graphic code and the second graphic code by adopting image acquisition equipment to obtain a first position mark and a second position mark.
In one embodiment, the determining the rotation correction factor according to the actual rotation angle of the top tray motor and the actual rotation angle of the bottom tray motor includes:
and determining a rotation correction coefficient according to the ratio of the actual rotation angle of the top disc motor to the actual rotation angle of the bottom disc motor.
In one embodiment, the method further comprises:
controlling the top disc motor and the bottom disc motor to rotate again based on the rotation correction coefficient obtained at the previous time, and obtaining the rotation correction coefficient at the next time after the rotation is finished;
controlling the top disc motor and the bottom disc motor to rotate again based on the rotation correction coefficient of the last time;
and if the difference values of the rotation correction coefficients of the adjacent times are smaller than a preset threshold value, taking the rotation correction coefficient of the last time as a final rotation correction coefficient.
In one embodiment, the method further comprises:
controlling the top disc motor and the bottom disc motor to rotate again based on the rotation correction coefficient obtained at the previous time, and obtaining the rotation correction coefficient at the next time after the rotation is finished;
when the difference value of the rotation correction coefficients of two adjacent times is smaller than a preset threshold value, taking the rotation correction coefficient of the next time as a candidate rotation correction coefficient;
after obtaining the plurality of rotation correction coefficient candidates, the average value of the plurality of rotation correction coefficient candidates is used as the final rotation correction coefficient.
In a second aspect, an embodiment of the present invention provides a rotation control apparatus, including:
the rotation angular velocity determining module is used for determining a first rotation angular velocity of the top plate motor and a second rotation angular velocity of the chassis motor according to the predicted rotation angle of the transport vehicle when controlling the transport vehicle to steer;
a correction module for correcting one of the first rotational angular velocity and the second rotational angular velocity according to a rotation correction coefficient set in advance;
and the first rotation control module is used for controlling the corresponding motor to rotate towards the preset direction according to the corrected target rotation angular velocity and controlling the corresponding motor to rotate towards the reverse direction of the preset direction according to the uncorrected rotation angular velocity.
In one embodiment, the apparatus further comprises:
the second rotation control module is used for rotating the top disc motor and the bottom disc motor according to preset conditions;
the actual rotation angle acquisition module is used for acquiring the actual rotation angle of the top disc motor and the actual rotation angle of the bottom disc motor after the rotation is finished;
and the first rotation correction coefficient determining module is used for determining a rotation correction coefficient according to the actual rotation angle of the top disc motor and the actual rotation angle of the bottom disc motor.
In one embodiment, the second rotation control module includes:
the rotation angle to be determined submodule is used for determining the rotation angle to be determined of the top disc motor and the rotation angle to be determined of the bottom disc motor;
and the rotation control submodule is used for controlling the top disc motor and the bottom disc motor to rotate simultaneously, and controlling the top disc motor and the bottom disc motor to stop rotating simultaneously when detecting that the top disc motor reaches the to-be-rotated angle of the top disc motor or the bottom disc motor reaches the to-be-rotated angle of the bottom disc motor.
In one embodiment, the sub-module for determining the angle to be rotated is specifically used for acquiring a first position mark preset on a shelf and a second position mark on the ground; determining a first deviation angle between the top plate motor and the goods shelf according to the first position mark, and determining a second deviation angle between the bottom plate motor and the ground according to the second position mark; and determining the angle to be rotated of the top disc motor according to the first deviation angle and the predicted rotation angle, and determining the angle to be rotated of the bottom disc motor according to the second deviation angle and the predicted rotation angle.
In one embodiment, the first position marker is a first graphic code and the second position marker is a second graphic code; and the sub-module for determining the rotation angle is specifically used for respectively scanning the first graph code and the second graph code by adopting image acquisition equipment to obtain a first position mark and a second position mark.
In one embodiment, the first rotation correction coefficient determining module is specifically configured to determine the rotation correction coefficient according to a ratio of an actual rotation angle of the top tray motor to an actual rotation angle of the bottom tray motor.
In one embodiment, the apparatus further comprises:
the third rotation control module is used for controlling the top disc motor and the bottom disc motor to rotate again based on the rotation correction coefficient obtained at the previous time, and obtaining the rotation correction coefficient at the next time after the rotation is finished;
the second rotation correction coefficient determining module is used for controlling the top disc motor and the bottom disc motor to rotate again based on the rotation correction coefficient of the last time; and if the difference values of the rotation correction coefficients of the adjacent times are smaller than a preset threshold value, taking the rotation correction coefficient of the last time as a final rotation correction coefficient.
In one embodiment, the apparatus further comprises:
the fourth rotation control module is used for controlling the top disc motor and the bottom disc motor to rotate again based on the rotation correction coefficient obtained at the previous time, and obtaining the rotation correction coefficient at the next time after the rotation is finished;
the third rotation correction coefficient determining module is used for taking the rotation correction coefficient of the next time as a candidate rotation correction coefficient when the difference value of the rotation correction coefficients of the two adjacent times is smaller than a preset threshold value; after obtaining the plurality of rotation correction coefficient candidates, the average value of the plurality of rotation correction coefficient candidates is used as the final rotation correction coefficient.
In a third aspect, an embodiment of the present invention provides a computer device, including a memory and a processor, where the memory stores a computer program, and the processor implements the steps in the method when executing the computer program.
In a fourth aspect, the present invention provides a computer-readable storage medium, on which a computer program is stored, the computer program, when being executed by a processor, implementing the steps in the method as described above.
The rotation control method, the rotation control device, the computer equipment and the storage medium determine a first rotation angular velocity of the top plate motor and a second rotation angular velocity of the chassis motor according to the predicted rotation angle of the transport vehicle when controlling the transport vehicle to steer; correcting one of the first rotational angular velocity and the second rotational angular velocity according to a rotation correction coefficient set in advance; and controlling the corresponding motor to rotate towards the preset direction according to the corrected target rotation angular velocity, and controlling the corresponding motor to rotate towards the reverse direction of the preset direction according to the uncorrected rotation angular velocity. Through this aspect of embodiment, when control transport vechicle turned to, the angular velocity of rotation of roof dish motor or the angular velocity of rotation of chassis motor was revised according to the rotation correction coefficient that sets up in advance for roof dish motor and chassis motor can reach respective target rotation angle in the same time, reduce because the rotation performance difference of roof dish motor and chassis motor leads to the goods shelves rock, and then can avoid the goods to take place to empty.
Drawings
FIG. 1 is a diagram of an exemplary embodiment of a spin control method;
FIG. 2 is a flow diagram illustrating a method for rotational control in one embodiment;
FIG. 3 is a flow chart illustrating the steps of determining a rotation correction factor in one embodiment;
FIG. 4 is a flow chart illustrating a rotation control method according to another embodiment;
FIG. 5 is a block diagram showing the structure of a rotation control device according to an embodiment;
FIG. 6 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The rotation control method provided by the application can be applied to the application environment shown in fig. 1. The application environment comprises a transport vehicle 01. The transport vehicle 01 moves along a predetermined guide route by lifting the rack 02, and the predetermined guide route may be previously input to the transport vehicle or may be transmitted to the transport vehicle through a network by a computer device. The embodiment of the present invention is not limited in detail, and may be set according to actual situations.
In one embodiment, as shown in fig. 2, a rotation control method is provided, which is exemplified by the application of the method to the transport vehicle in fig. 1, and comprises the following steps:
and 101, when the transport vehicle is controlled to steer, determining a first rotation angular velocity of the top plate motor and a second rotation angular velocity of the chassis motor according to the predicted rotation angle of the transport vehicle.
In this embodiment, the transport vehicle travels along a predetermined guide path, and when steering is required, the estimated rotation angle of the transport vehicle is acquired from the guide path. And acquiring the current actual direction of the transport vehicle, and determining the target rotation angle of the top plate motor and the target rotation angle of the top plate motor according to the predicted rotation angle and the current actual direction. Then, the transport vehicle determines a first rotation angular velocity corresponding to the top disc motor and a second rotation angular velocity corresponding to the bottom disc according to a correspondence relationship between the rotation angle and the rotation angular velocity established in advance.
For example, according to a preset guide path and a predicted rotation angle, determining a target rotation angle of a top disc motor to be theta 1 and a target rotation angle of a bottom disc motor to be theta 2; according to the correspondence relationship established in advance, it is possible to determine that the target rotation angle θ 1 corresponds to the first rotation angular velocity w1, and the target rotation angle θ 2 corresponds to the second rotation angular velocity w 2. The embodiment of the invention does not limit in detail how to determine the target rotation angle, and can be set according to actual conditions.
In the present embodiment, a rotation correction coefficient is set in advance in the transport vehicle, and after a first rotation angular velocity of the top chassis motor and a second rotation angular velocity of the chassis motor are determined, the first rotation angular velocity is corrected or the second rotation angular velocity is corrected based on the rotation correction coefficient.
For example, if the rotation correction coefficient is K and the first rotational angular velocity W1 of the top-disk motor is corrected, the target rotational angular velocity W1 of the top-disk motor is W1K, and the chassis motor is still the second rotational angular velocity W2. Alternatively, by correcting the second rotational angular velocity W2 of the chassis motor, the first rotational angular velocity W1 of the top chassis motor can be obtained, and the target rotational angular velocity W2 of the chassis motor is W2 × K.
In actual operation, it is common that the chassis motor rotates actively, and the top plate motor rotates following the chassis motor, so that the first rotation angular velocity of the top plate motor can be set to be corrected.
And 103, controlling the corresponding motor to rotate towards a preset direction according to the corrected target rotation angular velocity, and controlling the corresponding motor to rotate towards the reverse direction of the preset direction according to the uncorrected rotation angular velocity.
In this embodiment, after determining the target rotation angular velocity of the top tray motor or the target rotation angular velocity of the chassis motor, the top tray motor is controlled to rotate in the preset direction according to the target rotation angular velocity of the top tray motor, and the chassis motor is controlled to rotate in the opposite direction of the preset direction according to the second rotation angle of the chassis motor; or controlling the chassis motor to rotate towards a preset direction according to the target rotation angular speed of the chassis motor, and controlling the top disc motor to rotate towards the opposite direction of the preset direction according to the first rotation angle of the top disc motor.
For example, the top tray motor is controlled to rotate clockwise at the target rotational angular velocity W1, and the bottom tray motor is controlled to rotate counterclockwise at the second rotational angular velocity W2. Alternatively, the chassis motor is controlled to rotate counterclockwise at the target rotational angular velocity W2, and the deck motor is controlled to rotate clockwise at the first rotational angular velocity W1.
In the rotation control method, when the transport vehicle is controlled to steer, a first rotation angular velocity of the top plate motor and a second rotation angular velocity of the chassis motor are determined according to the predicted rotation angle of the transport vehicle; correcting one of the first rotational angular velocity and the second rotational angular velocity according to a rotation correction coefficient set in advance; and controlling the corresponding motor to rotate towards the preset direction according to the corrected target rotation angular velocity, and controlling the corresponding motor to rotate towards the reverse direction of the preset direction according to the uncorrected rotation angular velocity. Through this aspect of embodiment, when control transport vechicle turns to, the angular velocity of rotation of roof dish motor or the angular velocity of rotation of chassis motor is revised according to the rotatory correction coefficient that sets up in advance for roof dish motor and chassis motor can reach respective target rotation angle in the same time, reduce because the goods shelves that the rotation performance of roof dish motor and chassis motor leads to are different rock, and then can avoid the goods to take place to empty, have guaranteed the safety of conveying efficiency and transport vechicle.
In another embodiment, as shown in FIG. 3, this embodiment relates to an alternative process for determining the rotation correction factor. On the basis of the embodiment shown in fig. 2, the method may specifically include the following steps:
In this embodiment, the rotation correction coefficient is determined before the first rotational angular velocity of the top chassis motor is corrected or the second rotational angular velocity of the bottom chassis motor is corrected. In actual operation, the controlling of the top tray motor and the bottom tray motor to rotate according to preset conditions may specifically include the following steps:
step 2011, the to-be-rotated angle of the top tray motor and the to-be-rotated angle of the bottom tray motor are determined.
Specifically, a first position mark preset on a goods shelf and a second position mark on the ground are obtained; determining a first deviation angle between the top plate motor and the goods shelf according to the first position mark, and determining a second deviation angle between the bottom plate motor and the ground according to the second position mark; and determining the angle to be rotated of the top disc motor according to the first deviation angle and the predicted rotation angle, and determining the angle to be rotated of the bottom disc motor according to the second deviation angle and the predicted rotation angle.
The first position mark is a first graphic code, and the second position mark is a second graphic code; the acquisition of the first position mark previously set on the shelf and the second position mark on the ground may be: and respectively scanning the first graphic code and the second graphic code by adopting image acquisition equipment to obtain a first position mark and a second position mark.
For example, a first graphic code is provided on the bottom surface of the shelf, a second graphic code is provided on the floor surface, and the first graphic code is provided corresponding to the second graphic code, i.e., the origin O1, x-axis and y-axis indicated by the first graphic code correspond to the origin O2, x-axis and y-axis indicated by the second graphic code, respectively, as shown in fig. 4. The transport vehicle scans the first graphic code and the second graphic code through an image acquisition device such as a camera to obtain a first position mark and a second position mark. The transporter then resolves the origin O1, x-axis, and y-axis from the first position marker, and resolves the O2, x-axis, and y-axis from the second position marker. Then, the transport vehicle determines a first deviation angle theta 3 between the top plate motor and the goods shelf and a second deviation angle theta 4 between the bottom plate motor and the ground according to the analysis result. After the first deviation angle theta 3 and the second deviation angle theta 4 are obtained, if the expected rotation angle of the transport vehicle is clockwise rotation of 90 degrees, determining a to-be-rotated angle theta 5 of the top plate motor according to the first deviation angle theta 3 and the expected rotation angle of the transport vehicle; and determining the to-be-rotated angle theta 6 of the chassis motor according to the second deviation angle theta 4 and the predicted rotated angle of the transport vehicle.
Step 2012, controlling the top tray motor and the bottom tray motor to rotate simultaneously, and controlling the top tray motor and the bottom tray motor to stop rotating simultaneously when detecting that the top tray motor reaches the rotation angle to be detected of the top tray motor or the bottom tray motor reaches the rotation angle to be detected of the bottom tray motor.
In this embodiment, after the to-be-rotated angle of the top tray motor and the to-be-rotated angle of the bottom tray motor are obtained, the top tray motor and the bottom tray motor are controlled to rotate simultaneously, and because the rotation performance of the top tray motor and the rotation performance of the bottom tray motor are different, one of the top tray motor and the bottom tray motor may reach the to-be-rotated angle first. Therefore, the transport vehicle detects the rotation angle of the top disc motor and the rotation angle of the chassis motor in real time, and controls the top disc motor and the chassis motor to stop rotating simultaneously no matter whether the top disc motor reaches the rotation angle to be detected of the top disc motor first or the chassis motor reaches the rotation angle to be detected of the chassis motor first.
For example, after the rotation angle theta 5 to be measured of the top disc motor and the rotation angle theta 6 to be measured of the chassis motor are obtained, if the rotation angle theta 5 to be measured of the top disc motor is detected, the top disc motor and the chassis motor are controlled to stop rotating at the same time; and if the chassis motor reaches the rotation waiting angle theta 6 firstly, controlling the top chassis motor and the chassis motor to stop rotating simultaneously.
In this embodiment, after both the top tray motor and the bottom tray motor stop rotating, the actual rotation angle of the top tray motor and the actual rotation angle of the bottom tray motor are detected. For example, if the top disc motor reaches the waiting rotation angle θ 5 first, the actual rotation angle of the top disc motor may be detected as θ 5, and the actual rotation angle of the bottom disc motor may be detected as θ 8; if the chassis motor reaches the waiting rotation angle theta 6 first, the actual rotation angle of the top chassis motor can be detected to be theta 7, and the actual rotation angle of the chassis motor is theta 6.
The actual rotation angles of the top disc motor and the bottom disc motor can be detected by adopting angle sensors, which are not limited in detail in the embodiment of the invention and can be set according to actual conditions.
And step 203, determining a rotation correction coefficient according to the actual rotation angle of the top disc motor and the actual rotation angle of the bottom disc motor.
In this embodiment, after the actual rotation angle of the top disc motor and the actual rotation angle of the chassis motor are obtained, the rotation correction coefficient is determined according to the ratio of the actual rotation angle of the top disc motor to the actual rotation angle of the chassis motor. Specifically, a value of an actual rotation angle of the top tray motor to an actual rotation angle of the chassis motor is calculated, and a first rotation correction coefficient is obtained, wherein the first rotation correction coefficient is used for correcting a second rotation angular velocity of the chassis motor to obtain a target rotation angular velocity of the chassis motor. Or calculating the value of the actual rotation angle of the chassis motor to the actual rotation angle of the top disc motor to obtain a second rotation correction coefficient, wherein the second rotation correction coefficient is used for correcting the first rotation angular velocity of the top disc motor to obtain the target rotation angular velocity of the top disc motor.
Taking the example that the chassis motor reaches the waiting rotation angle θ 6 first, the actual rotation angle of the chassis motor is θ 6, the actual rotation angle of the top disc motor is θ 7, and the obtained first rotation correction coefficient is Ka ═ θ 7/θ 6, the top disc motor is the first rotation angular velocity W1, and the target rotation angular velocity W2 ═ W2 ═ Ka ═ W2 ═ θ 7/θ 6 of the chassis motor. If the second rotation correction coefficient Kb is equal to θ 6/θ 7, the target rotational angular velocity W1 of the top disc motor is equal to W1 Kb is equal to W1 θ 6/θ 7, and the second rotational angular velocity W2 of the chassis motor is obtained.
It can be understood that if the chassis motor reaches the rotation waiting angle first, it indicates that the second rotation angular velocity of the chassis motor is large, and the first rotation angular velocity of the top plate motor is small. Therefore, if the second rotation angular velocity of the chassis motor is corrected, it is necessary to lower the second rotation angular velocity of the chassis motor; if the first rotational angular velocity of the top-disk motor is corrected, it is necessary to increase the first rotational angular velocity of the top-disk motor. By analogy, if the top disc motor reaches the rotation angle to be rotated first, the second rotation angular velocity of the bottom disc motor is low, and the first rotation angular velocity of the top disc motor is high. Therefore, if the second rotation angular velocity of the chassis motor is corrected, it is necessary to increase the second rotation angular velocity of the chassis motor; if the first rotational angular velocity of the top-disk motor is corrected, the first rotational angular velocity of the top-disk motor needs to be decreased.
In one embodiment, the top disc motor and the bottom disc motor are controlled to rotate again based on the rotation correction coefficient obtained in the previous time, and the rotation correction coefficient of the next time is obtained after the rotation is finished; controlling the top disc motor and the bottom disc motor to rotate again based on the rotation correction coefficient of the last time; and if the difference value of the rotation correction coefficients of the adjacent times (such as two times, three times, four times or other preset times) is smaller than a preset threshold value, taking the rotation correction coefficient of the last time as the final rotation correction coefficient.
In this embodiment, in order to improve the accuracy of the rotation correction coefficient, the top chassis motor and the bottom chassis motor may be controlled to rotate again based on the previous rotation correction coefficient, and the subsequent rotation correction coefficient may be obtained after the rotation is completed. And then controlling the rotation of the top disk motor and the bottom disk motor based on the rotation correction coefficient of the next time, and obtaining a plurality of rotation correction coefficients according to the mode. And calculating the difference between every two adjacent rotation correction coefficients, and taking the last rotation correction coefficient as the final rotation correction coefficient when the differences of the rotation correction coefficients of adjacent times are smaller than a preset threshold value.
For example, the previous rotation correction coefficient K1 is obtained, the top tray motor and the chassis motor are controlled to rotate again, the rotational angular velocity of the top tray motor or the rotational angular velocity of the chassis motor is corrected by using K1, and the next rotation correction coefficient K2 is obtained from the actual rotational angle of the top tray motor and the actual rotational angle of the chassis motor after the rotation is completed. And controlling the top disc motor and the chassis motor to rotate again based on K2 to obtain a rotation correction coefficient K3. Then, if the difference between K2 and K1 and the difference between K3 and K2 are both smaller than a preset threshold value K0, K3 is taken as a final rotation correction coefficient. The preset threshold and the times that the difference value is smaller than the preset threshold are not limited in detail in the embodiment of the invention, and can be set according to actual conditions.
In one embodiment, the top disc motor and the bottom disc motor are controlled to rotate again based on the rotation correction coefficient obtained in the previous time, and the rotation correction coefficient of the next time is obtained after the rotation is finished; when the difference value of the rotation correction coefficients of two adjacent times is smaller than a preset threshold value, taking the rotation correction coefficient of the next time as a candidate rotation correction coefficient; after obtaining the plurality of rotation correction coefficient candidates, the average value of the plurality of rotation correction coefficient candidates is used as the final rotation correction coefficient.
In this embodiment, in order to further improve the accuracy of the rotation correction coefficient, when the difference between two adjacent rotation correction coefficients is smaller than a preset threshold, the rotation correction coefficient of the next time may be used as a candidate rotation correction coefficient. And in the same way, obtaining a plurality of candidate rotation correction data, calculating the average value of the candidate rotation correction coefficients, and taking the average value as the final rotation correction coefficient.
For example, if the difference between K2 and K1 is smaller than a preset threshold K0, the difference between K3 and K2 is smaller than a preset threshold K0, and the difference between K4 and K3 is smaller than a preset threshold K0, then K2, K3, and K4 are used as candidate rotation correction coefficients, the average value K 'of K2, K3, and K4 is calculated as (K2+ K3+ K4)/3, and K' is used as the final rotation correction coefficient.
In the process of determining the rotation correction coefficient, controlling a top disc motor and a bottom disc motor to rotate according to a preset condition; after the rotation is finished, acquiring the actual rotation angle of a top disc motor and the actual rotation angle of a bottom disc motor; and determining a rotation correction coefficient according to the actual rotation angle of the top disc motor and the actual rotation angle of the bottom disc motor. According to the embodiment of the invention, the rotation performance difference between the top disc motor and the chassis motor can be determined according to the rotation conditions of the top disc motor and the chassis motor, so that the rotation correction coefficient is determined, and then the rotation correction coefficient is adopted to reduce the rotation performance difference between the top disc motor and the chassis motor, so that the transport vehicle is more stable during reversing, the goods shelf is prevented from shaking, and the goods are prevented from toppling. Furthermore, the rotation correction coefficient is obtained through multiple rotations, so that the accuracy of the rotation correction coefficient can be improved, and the transportation efficiency and the safety of a transport vehicle are guaranteed.
It should be understood that although the various steps in the flow charts of fig. 2-3 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-3 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 5, there is provided a rotation control apparatus including:
a rotational angular velocity determination module 301, configured to determine a first rotational angular velocity of the top tray motor and a second rotational angular velocity of the chassis motor according to a predicted rotational angle of the transporter when controlling the steering of the transporter;
a correction module 302 for correcting one of the first rotational angular velocity and the second rotational angular velocity according to a preset rotational correction coefficient;
and a first rotation control module 303, configured to control the corresponding motor to rotate in the preset direction according to the corrected target rotation angular velocity, and control the corresponding motor to rotate in the opposite direction to the preset direction according to the uncorrected rotation angular velocity.
In one embodiment, the apparatus further comprises:
the second rotation control module is used for rotating the top disc motor and the bottom disc motor according to preset conditions;
the actual rotation angle acquisition module is used for acquiring the actual rotation angle of the top disc motor and the actual rotation angle of the bottom disc motor after the rotation is finished;
and the first rotation correction coefficient determining module is used for determining a rotation correction coefficient according to the actual rotation angle of the top disc motor and the actual rotation angle of the bottom disc motor.
In one embodiment, the second rotation control module includes:
the rotation angle to be determined submodule is used for determining the rotation angle to be determined of the top disc motor and the rotation angle to be determined of the bottom disc motor;
and the rotation control submodule is used for controlling the top disc motor and the bottom disc motor to rotate simultaneously, and controlling the top disc motor and the bottom disc motor to stop rotating simultaneously when detecting that the top disc motor reaches the to-be-rotated angle of the top disc motor or the bottom disc motor reaches the to-be-rotated angle of the bottom disc motor.
In one embodiment, the sub-module for determining the angle to be rotated is specifically used for acquiring a first position mark preset on a shelf and a second position mark on the ground; determining a first deviation angle between the top plate motor and the goods shelf according to the first position mark, and determining a second deviation angle between the bottom plate motor and the ground according to the second position mark; and determining the angle to be rotated of the top disc motor according to the first deviation angle and the predicted rotation angle, and determining the angle to be rotated of the bottom disc motor according to the second deviation angle and the predicted rotation angle.
In one embodiment, the first position marker is a first graphic code and the second position marker is a second graphic code; and the sub-module for determining the rotation angle is specifically used for respectively scanning the first graph code and the second graph code by adopting image acquisition equipment to obtain a first position mark and a second position mark.
In one embodiment, the first rotation correction coefficient determining module is specifically configured to determine the rotation correction coefficient according to a ratio of an actual rotation angle of the top tray motor to an actual rotation angle of the bottom tray motor.
In one embodiment, the apparatus further comprises:
the third rotation control module is used for controlling the top disc motor and the bottom disc motor to rotate again based on the rotation correction coefficient obtained at the previous time, and obtaining the rotation correction coefficient at the next time after the rotation is finished;
the second rotation correction coefficient determining module is used for controlling the top disc motor and the bottom disc motor to rotate again based on the rotation correction coefficient of the last time; and if the difference values of the rotation correction coefficients of the adjacent times are smaller than a preset threshold value, taking the rotation correction coefficient of the last time as a final rotation correction coefficient.
In one embodiment, the apparatus further comprises:
the fourth rotation control module is used for controlling the top disc motor and the bottom disc motor to rotate again based on the rotation correction coefficient obtained at the previous time, and obtaining the rotation correction coefficient at the next time after the rotation is finished;
the third rotation correction coefficient determining module is used for taking the rotation correction coefficient of the next time as a candidate rotation correction coefficient when the difference value of the rotation correction coefficients of the two adjacent times is smaller than a preset threshold value; after obtaining the plurality of rotation correction coefficient candidates, the average value of the plurality of rotation correction coefficient candidates is used as the final rotation correction coefficient.
For the specific definition of the rotation control device, reference may be made to the above definition of the rotation control method, which is not described herein again. The respective modules in the rotation control apparatus may be wholly or partially implemented by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a transportation cart, the internal structure of which may be as shown in fig. 6. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a rotation control method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 6 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
when the transport vehicle is controlled to steer, determining a first rotation angular velocity of a top disc motor and a second rotation angular velocity of a chassis motor according to the predicted rotation angle of the transport vehicle;
correcting one of the first rotational angular velocity and the second rotational angular velocity according to a rotation correction coefficient set in advance;
and controlling the corresponding motor to rotate towards the preset direction according to the corrected target rotation angular velocity, and controlling the corresponding motor to rotate towards the reverse direction of the preset direction according to the uncorrected rotation angular velocity.
In one embodiment, the processor, when executing the computer program, performs the steps of:
controlling a top disc motor and a bottom disc motor to rotate according to preset conditions;
after the rotation is finished, acquiring the actual rotation angle of a top disc motor and the actual rotation angle of a bottom disc motor;
and determining a rotation correction coefficient according to the actual rotation angle of the top disc motor and the actual rotation angle of the bottom disc motor.
In one embodiment, the processor, when executing the computer program, performs the steps of:
determining a rotation angle to be measured of a top disc motor and a rotation angle to be measured of a bottom disc motor;
and controlling the top disc motor and the bottom disc motor to rotate simultaneously, and controlling the top disc motor and the bottom disc motor to stop rotating simultaneously when detecting that the top disc motor reaches the rotation angle to be detected of the top disc motor or the bottom disc motor reaches the rotation angle to be detected of the bottom disc motor.
In one embodiment, the processor, when executing the computer program, performs the steps of:
acquiring a first position mark preset on a goods shelf and a second position mark on the ground;
determining a first deviation angle between the top plate motor and the goods shelf according to the first position mark, and determining a second deviation angle between the bottom plate motor and the ground according to the second position mark;
and determining the angle to be rotated of the top disc motor according to the first deviation angle and the predicted rotation angle, and determining the angle to be rotated of the bottom disc motor according to the second deviation angle and the predicted rotation angle.
In one embodiment, the first position marker is a first graphic code and the second position marker is a second graphic code; the processor, when executing the computer program, implements the steps of:
and respectively scanning the first graphic code and the second graphic code by adopting image acquisition equipment to obtain a first position mark and a second position mark.
In one embodiment, the processor, when executing the computer program, performs the steps of:
and determining a rotation correction coefficient according to the ratio of the actual rotation angle of the top disc motor to the actual rotation angle of the bottom disc motor.
In one embodiment, the processor, when executing the computer program, performs the steps of:
controlling the top disc motor and the bottom disc motor to rotate again based on the rotation correction coefficient obtained at the previous time, and obtaining the rotation correction coefficient at the next time after the rotation is finished;
controlling the top disc motor and the bottom disc motor to rotate again based on the rotation correction coefficient of the last time;
and if the difference values of the rotation correction coefficients of the adjacent times are smaller than a preset threshold value, taking the rotation correction coefficient of the last time as a final rotation correction coefficient.
In one embodiment, the processor, when executing the computer program, performs the steps of:
controlling the top disc motor and the bottom disc motor to rotate again based on the rotation correction coefficient obtained at the previous time, and obtaining the rotation correction coefficient at the next time after the rotation is finished;
when the difference value of the rotation correction coefficients of two adjacent times is smaller than a preset threshold value, taking the rotation correction coefficient of the next time as a candidate rotation correction coefficient;
after obtaining the plurality of rotation correction coefficient candidates, the average value of the plurality of rotation correction coefficient candidates is used as the final rotation correction coefficient.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
when the transport vehicle is controlled to steer, determining a first rotation angular velocity of a top disc motor and a second rotation angular velocity of a chassis motor according to the predicted rotation angle of the transport vehicle;
correcting one of the first rotational angular velocity and the second rotational angular velocity according to a rotation correction coefficient set in advance;
and controlling the corresponding motor to rotate towards the preset direction according to the corrected target rotation angular velocity, and controlling the corresponding motor to rotate towards the reverse direction of the preset direction according to the uncorrected rotation angular velocity.
In one embodiment, the computer program when executed by the processor further performs the steps of:
controlling a top disc motor and a bottom disc motor to rotate according to preset conditions;
after the rotation is finished, acquiring the actual rotation angle of a top disc motor and the actual rotation angle of a bottom disc motor;
and determining a rotation correction coefficient according to the actual rotation angle of the top disc motor and the actual rotation angle of the bottom disc motor.
In one embodiment, the computer program when executed by the processor further performs the steps of:
determining a rotation angle to be measured of a top disc motor and a rotation angle to be measured of a bottom disc motor;
and controlling the top disc motor and the bottom disc motor to rotate simultaneously, and controlling the top disc motor and the bottom disc motor to stop rotating simultaneously when detecting that the top disc motor reaches the rotation angle to be detected of the top disc motor or the bottom disc motor reaches the rotation angle to be detected of the bottom disc motor.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring a first position mark preset on a goods shelf and a second position mark on the ground;
determining a first deviation angle between the top plate motor and the goods shelf according to the first position mark, and determining a second deviation angle between the bottom plate motor and the ground according to the second position mark;
and determining the angle to be rotated of the top disc motor according to the first deviation angle and the predicted rotation angle, and determining the angle to be rotated of the bottom disc motor according to the second deviation angle and the predicted rotation angle.
In one embodiment, the first position marker is a first graphic code and the second position marker is a second graphic code; the computer program when executed by the processor further realizes the steps of:
and respectively scanning the first graphic code and the second graphic code by adopting image acquisition equipment to obtain a first position mark and a second position mark.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and determining a rotation correction coefficient according to the ratio of the actual rotation angle of the top disc motor to the actual rotation angle of the bottom disc motor.
In one embodiment, the computer program when executed by the processor further performs the steps of:
controlling the top disc motor and the bottom disc motor to rotate again based on the rotation correction coefficient obtained at the previous time, and obtaining the rotation correction coefficient at the next time after the rotation is finished;
controlling the top disc motor and the bottom disc motor to rotate again based on the rotation correction coefficient of the last time;
and if the difference values of the rotation correction coefficients of the adjacent times are smaller than a preset threshold value, taking the rotation correction coefficient of the last time as a final rotation correction coefficient.
In one embodiment, the computer program when executed by the processor further performs the steps of:
controlling the top disc motor and the bottom disc motor to rotate again based on the rotation correction coefficient obtained at the previous time, and obtaining the rotation correction coefficient at the next time after the rotation is finished;
when the difference value of the rotation correction coefficients of two adjacent times is smaller than a preset threshold value, taking the rotation correction coefficient of the next time as a candidate rotation correction coefficient;
after obtaining the plurality of rotation correction coefficient candidates, the average value of the plurality of rotation correction coefficient candidates is used as the final rotation correction coefficient.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (8)
1. The rotation control method is characterized by being applied to a transport vehicle, wherein the transport vehicle comprises a top disc motor and a bottom disc motor; the method comprises the following steps:
determining a first rotation angular velocity of the top tray motor and a second rotation angular velocity of the chassis motor according to the predicted rotation angle of the transporter when controlling the steering of the transporter;
correcting one of the first rotational angular velocity and the second rotational angular velocity according to a rotation correction coefficient set in advance;
controlling the corresponding motor to rotate towards a preset direction according to the corrected target rotation angular velocity, and controlling the corresponding motor to rotate towards the opposite direction of the preset direction according to the uncorrected rotation angular velocity;
the preset rotation correction coefficient is obtained according to the following method:
determining a rotation angle to be measured of the top disc motor and a rotation angle to be measured of the bottom disc motor;
controlling the top disc motor and the bottom disc motor to rotate simultaneously, and controlling the top disc motor and the bottom disc motor to stop rotating simultaneously when detecting that the top disc motor reaches the angle to be rotated of the top disc motor or the bottom disc motor reaches the angle to be rotated of the bottom disc motor;
after the rotation is finished, acquiring the actual rotation angle of the top disc motor and the actual rotation angle of the bottom disc motor;
and determining the rotation correction coefficient according to the ratio of the actual rotation angle of the top disc motor to the actual rotation angle of the bottom disc motor.
2. The method of claim 1, wherein the determining the angle to be rotated of the top tray motor and the angle to be rotated of the bottom tray motor comprises:
acquiring a first position mark preset on a goods shelf and a second position mark on the ground;
determining a first deviation angle between the top plate motor and the goods shelf according to the first position mark, and determining a second deviation angle between the bottom plate motor and the ground according to the second position mark;
and determining the angle to be rotated of the top disc motor according to the first deviation angle and the predicted rotation angle, and determining the angle to be rotated of the bottom disc motor according to the second deviation angle and the predicted rotation angle.
3. The method of claim 2, wherein the first position marker is a first graphical code and the second position marker is a second graphical code; the acquiring a first position marker previously set on a shelf and a second position marker on the ground includes:
and respectively scanning the first graphic code and the second graphic code by adopting image acquisition equipment to obtain the first position mark and the second position mark.
4. The method according to any one of claims 1-3, further comprising:
controlling the top disc motor and the bottom disc motor to rotate again based on the rotation correction coefficient obtained at the previous time, and obtaining the rotation correction coefficient at the next time after the rotation is finished;
controlling the top disc motor and the bottom disc motor to rotate again based on the latter rotation correction coefficient;
and if the difference values of the rotation correction coefficients of the adjacent times are smaller than a preset threshold value, taking the rotation correction coefficient of the last time as a final rotation correction coefficient.
5. The method according to any one of claims 1-3, further comprising:
controlling the top disc motor and the bottom disc motor to rotate again based on the rotation correction coefficient obtained at the previous time, and obtaining the rotation correction coefficient at the next time after the rotation is finished;
when the difference value of the rotation correction coefficients of two adjacent times is smaller than a preset threshold value, taking the rotation correction coefficient of the next time as a candidate rotation correction coefficient;
after obtaining a plurality of rotation correction coefficient candidates, an average value of the rotation correction coefficient candidates is used as a final rotation correction coefficient.
6. A rotary control device deployed on a transporter, the transporter comprising a top-tray motor and a bottom-tray motor; the device comprises:
a rotation angular velocity determination module for determining a first rotation angular velocity of the roof motor and a second rotation angular velocity of the chassis motor according to the predicted rotation angle of the transporter when controlling the steering of the transporter;
a correction module configured to correct one of the first rotational angular velocity and the second rotational angular velocity according to a preset rotation correction coefficient;
the first rotation control module is used for controlling the corresponding motor to rotate towards a preset direction according to the corrected target rotation angular velocity and controlling the corresponding motor to rotate towards the opposite direction of the preset direction according to the uncorrected rotation angular velocity;
the preset rotation correction coefficient is obtained according to the following method:
determining a rotation angle to be measured of the top disc motor and a rotation angle to be measured of the bottom disc motor;
controlling the top disc motor and the bottom disc motor to rotate simultaneously, and controlling the top disc motor and the bottom disc motor to stop rotating simultaneously when detecting that the top disc motor reaches the angle to be rotated of the top disc motor or the bottom disc motor reaches the angle to be rotated of the bottom disc motor;
after the rotation is finished, acquiring the actual rotation angle of the top disc motor and the actual rotation angle of the bottom disc motor;
and determining the rotation correction coefficient according to the ratio of the actual rotation angle of the top disc motor to the actual rotation angle of the bottom disc motor.
7. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 5 when executing the computer program.
8. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 5.
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